AXOR Industries MACK NANO User manual

AXOR Industries Service Manual NanoMack®ver.1 rev.02/'17
2
All rights reserved. Reproduction in whole or in part is prohibited without prior
written consent of the copyright owner. All specications are subject to change
without prior notication.
This manual has been carefully checked. However, Axor does not assume liability
for errors or inaccuracies.
Release Notes
ver.1 rev. 03/'16 First preliminary edition.
ver.1 rev. 07/'16
Notes about supply.
Nota about ground connection.
Notes about DC motor settings.
Corrections.
ver.1 rev. 12/'16
Added steeper motor connections.
Added senting and conguration on encoders.
Chapter 1, 2, 4, 5 update.
Corrections.
ver.1 rev. 02/'17 Corrections.
THIS MANUAL CONTAINS A DESCRIPTION OF NANO MACK®
AND A GUIDELINES FOR THE DRIVE'S INSTALLATION.
USING THE DRIVE INCORRECTLY CAN INJURE PEOPLE OR MANAGE THINGS.
FULLY RESPECT THE TECHNICAL DATA AND INDICATIONS ON CONNECTION
CONDITIONS.

AXOR Industries Service Manual NanoMack®ver.1 rev.02/'17
3
Summary
1) Description
1.1 Description 6
1.2 General view NanoMack 8
1.3 Technical Data 10
1.4 Product plate and Ordering Code 11
2) Installation
2.1 General Advices 14
2.2 Environmental conditions 16
2.3 Cables 17
2.4 Note about cable shielding 19
2.5 Base installation procedure 20
2.6 Supply connections 21
2.7 Motor power connection 23
2.8 Digital inputs connection 25
2.9 Digital outputs connections 26
2.10 Analog inputs connections 27
2.11 Clock/Dir inputs connections 28
2.12 Feedback signals connections 29
2.13 CanBus or RS485 connections 32
2.14 Nano Mack Led 33
3) Diagnostic
3.1 Alarms 35
4) Operative Modes
4.1 Operative Modes 39
4.2 Digital Speed 40
4.3 Analog Speed 41
4.4 Digital Torque 43
4.5 Analog Torque 44
4.6 Gearing 45
4.7 Clock/Dir Command 46
4.8 Homing - Procedures 49
4.9 Homing - Settings 53
4.10 Homing - Example 57
4.11 CanBus - Settings 59
4.12 Analog to Position Control 60

AXOR Industries Service Manual NanoMack®ver.1 rev.02/'17
4
Summary
3) SpeederOne Interface
5.1 Speeder One Interface 63
5.2 Nano Mack main menu 65
5.3 Nano Mack Operative Modes 69
5.4 Nano Mack Status 70
5.5 Speed window 71
5.6 Current window 72
5.7 Motor window 73
5.8 Analog I/O window 78
5.9 Digital I/0 window 79
5.10 Position window 82
5.11 Homing window 83
5.12 Oscilloscope 85
Conformity 92

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AXOR Industries Service Manual NanoMack®ver.1 rev.02/'17
Chapter 1
Description
1.1 Description 6
1.2 General view NanoMack 8
1.3 Technical Data 10
1.4 Product plate and Ordering Code 11
1) Description

6
AXOR Industries Service Manual NanoMack®ver.1 rev.02/'17
1.1 Description
OPERATIVE MODES
DIGITAL
SPEED CONTROL
It is speed piloting utilising a digital reference. standard
ANALOG
SPEED CONTROL
It is speed piloting utilising an analogue reference
(differential or common mode). standard
DIGITAL TORQUE
CONTROL
It is torque piloting utilising a digital reference. standard
ANALOG TORQUE
CONTROL
It is torque piloting utilising an analogue reference. standard
POSITION MODE
Available soon.
The positioner can be managed via hardware (by using the
digital inputs) or via USB (by using the Axor's Speeder
One interface).
It supports 32 programmable position proles; a single task
or a sequence of tasks are permitted.
The Homing Procedure is implemented. It uses the signal
coming from the homing sensor and eventually the zero
signal of the encoder.
standard
GEARING
It is possible to pilot the drive with the quadrature signals
of an emulated encoder from a Master drive or with the
quadrature signals of an incremental encoder from a Master
motor.
standard
PULSE/DIRECTION
It is possible to connect the drive to a motor piloting it
with the CLOCK and DIR signals: the DIR signal denes
the clockwise/counter clockwise rotation, while the CLOCK
signal denes the speed rotation.
standard
CW/CCW
It is possible to connect the drive to a motor piloting it with
the CLOCK and DIR signals: if pulses arrive at the CLOCK
input, the motor rotates clockwise (CW); while if pulses
arrive at the DIR input, the motor rotates counter clockwise
(CCW).
standard
CANBUS
It can be congured and controlled using CanBus. It
supports the following Can Open protocols:
• part of the DS301-V4.02
• part of the DSP402-V2.0
standard
SQUARE WAVE The motor is piloted with a “square wave” signal.
This is useful for adjustments of the speed loop. standard
ANALOG TO
POSITION
The motor moves between two programmable positions
corrisponding the min and max voltages at the dedicated
pins.
standard
RS485 MODBUS-RTU It allows to communicate and control the drive by using the
RS485 interface. optional
The NANO MACK
®
is a very compact digital drive capable of piloting AC brushless motors, DC brushed
motors and stepper motors, up to 400W. It can be supplied by a DC voltage equal to 12÷48Vdc.

7
AXOR Industries Service Manual NanoMack®ver.1 rev.02/'17
1.1 Description
STANDARD AND ADDITIONAL FEATURES
SPEEDER ONE
SOFTWARE
INTERFACE
The Axor Speeder One interface allows user to set and
manage all Nano Mack®’s parameters, just using an USB
single access cable.
standard
SAFETY
SAFETY
The converter is protected from short circuitry, the Max/Min
Voltage, over-temperature of the converter & motor, I2t of
drive, I2t of motor, etc.
standard
DIGITAL INPUTS/ OUTPUTS
4 DIGITAL INPUTS
(D.IN1÷D.IN4)
PROGRAMMABLE
The digital inputs are programmable with the option present
in chapter 5. standard
2 DIGITAL or
ANALOG OUTPUTS
PROGRAMMABLE
The digital outputs are programmable with the option present
in chapter 5. standard
1 ANALOG COMMON
MODE INPUT
(An.Ref.Torque)
It is used for controlling the current from the drive
(±10V - 12bit). standard
1 ANALOG
DIFFERENTIAL
INPUT
(+/- An.Diff.Ref.)
It is used for piloting the drive with an analogue speed
reference from an external controller (±10V - 12bit). standard
FEEDBACK
INCREMENTAL
ENCODER
Incremental encoder (A, B, Z). standard for motors:
BL, DC, SM
COMMUTATION
ENCODER
Commutation encoder (A, B, Z) + hall (U,
V, W). standard for motor: BL
SENSORLESS standard for motors: BL, SM
ARMATURE standard for motor: DC
HALL Only hall (U, V, W).
Available soon.
standard for motor: BL, DC
TACHOGENERATOR optional for motor: DC
BL: Brushless motor
DC: Brushed motor
SM: Stepper motor

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AXOR Industries Service Manual NanoMack®ver.1 rev.02/'17
1.2 General view NanoMack
23
43
21.5
USB
Ø 4
123 4 5 6 2 8
1 17
1 7
RUN
ALARM
READY
( flash )
I2 t
(
flash )
LED
2 18
6574
Dimensions in mm
BRUSHLESS & D.C. MOTORS
NANO
F EEDBACK
2 4 6 8
1357
+
-
3 4 5 6
MOTORPWR
J2
M1
CONTROL 1
2
17
18
J1
USB
1 2
MKN48/8-B-X-CB-Sxxx
X000/X000
00000000 00000000 
M1 J2
J1

9
AXOR Industries Service Manual NanoMack®ver.1 rev.02/'17
1.2 General view NanoMack
     
     
  
      
      
      
      
          
          
     
  
   
          
  
     
 
  
    
    
    
    
    
 
  

  
 
 
 
 
 
  

  
 
  

 
 
 
  

  
 

 
 
 
 
   

  

      
  
  
  
 
 
3
BL
BRUSHLESS
DC
BRUSHED
SM
STEPPER
CONTROL M O D E
FEEDB A C K
MOTO R
MOTO R
MOTO R

10
AXOR Industries Service Manual NanoMack®ver.1 rev.02/'17
1.3 Technical Data
NanoMack®Technical Data
Power Supply Vdc 12 ÷ 48 Vdc ( 9
Vdc min - 65 Vdc max )
Backup Logic
Supply Vdc 12 ÷ 24 Vdc - 100mAdc max ( 9
Vdc min - 30 Vdc max )
Size MKN 48
1/2 5/10 8/16 10/20
Rated Current Arms 1 5 8 10
Peak current x 3'' Arms 2 10 16 20
PWM output
frequency kHz 8 default (16 and 24 with derating )
External Fuse Protection
Power in Line F1 10 A (T-type = time-lag)
Ambient condition
during operation
Temperature
From 0°C to +40°C (without condensation)[Class
3K3 according to EN 60721-3-3].
From +40°C to +55°C the drive must be derated
2.5%/°C in reference to nominal and peak current.
Humidity From 10% to 85% (without condensation) [Class 3K3
according to EN 60721-3-3].
Vibration Class 3M1 according to EN 60721-3-3.
Ambient condition
during transport
Temperature From -25°C to +70°C [Class 2K3 according to EN
60721-3-2].
Humidity Relative humidity max 85% (without condensation)
[Class 2K3 according to EN 60721-3-2].
Vibration Class 2M1 according to EN 60721-3-2.
Ambient condition
during storage
Temperature From -20°C to +55°C [Class 1K3 according to EN
60721-3-1].
Humidity Relative humidity from 5% to 85% (without
condensation) [Class 1K3 according to EN 60721-3-1].
Vibration Class 1M1 according to EN 60721-3-1.
Control signals
Digital inputs +24Vdc - 7mA (PLC compatible)
Digital/Analog outputs +24Vdc - 20mA (PLC compatible)
Clock/Dir digital inputs +5 - max. frequency 500kHz
+24V - max. frequency 100kHz
Differential analog inputs
(+/- An.Diff.Ref.) ±10V (±5%) - 12bit
Common mode analog input
(An.Ref.Torque) ±10V (±5%) - 12bit
Mechanical specications
Drive assembly Panel mount
External dimensions mm 74 x 43 x 23
Weight g60